lsm6dsl 2.0.0.0
lsm6dsl.h
Go to the documentation of this file.
1/*
2 * MikroSDK - MikroE Software Development Kit
3 * Copyright© 2020 MikroElektronika d.o.o.
4 *
5 * Permission is hereby granted, free of charge, to any person
6 * obtaining a copy of this software and associated documentation
7 * files (the "Software"), to deal in the Software without restriction,
8 * including without limitation the rights to use, copy, modify, merge,
9 * publish, distribute, sublicense, and/or sell copies of the Software,
10 * and to permit persons to whom the Software is furnished to do so,
11 * subject to the following conditions:
12 *
13 * The above copyright notice and this permission notice shall be
14 * included in all copies or substantial portions of the Software.
15 *
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
18 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
19 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
20 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
21 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE
22 * OR OTHER DEALINGS IN THE SOFTWARE.
23 */
32// ----------------------------------------------------------------------------
33
34#ifndef LSM6DSL_H
35#define LSM6DSL_H
36
37#include "drv_digital_out.h"
38#include "drv_digital_in.h"
39#include "drv_spi_master.h"
40
41// -------------------------------------------------------------- PUBLIC MACROS
52#define LSM6DSL_MAP_MIKROBUS( cfg, mikrobus ) \
53 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
54 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
55 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
56 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
57 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
64#define LSM6DSL_RETVAL uint8_t
65
66#define LSM6DSL_OK 0x00
67#define LSM6DSL_INIT_ERROR 0xFF
74#define LSM6DSL_FUNC_CFG_ACCESS 0x01
75#define LSM6DSL_SENSOR_SYNC_TIME 0x04
76#define LSM6DSL_SENSOR_RES_RATIO 0x05
77#define LSM6DSL_FIFO_CTRL1 0x06
78#define LSM6DSL_FIFO_CTRL2 0x07
79#define LSM6DSL_FIFO_CTRL3 0x08
80#define LSM6DSL_FIFO_CTRL4 0x09
81#define LSM6DSL_FIFO_CTRL5 0x0A
82#define LSM6DSL_DRDY_PULSE_CFG_G 0x0B
83#define LSM6DSL_INT1_CTRL 0x0D
84#define LSM6DSL_INT2_CTRL 0x0E
85#define LSM6DSL_WHO_AM_I_REG 0x0F
86#define LSM6DSL_CTRL1_XL 0x10
87#define LSM6DSL_CTRL2_G 0x11
88#define LSM6DSL_CTRL3_C 0x12
89#define LSM6DSL_CTRL4_C 0x13
90#define LSM6DSL_CTRL5_C 0x14
91#define LSM6DSL_CTRL6_G 0x15
92#define LSM6DSL_CTRL7_G 0x16
93#define LSM6DSL_CTRL8_XL 0x17
94#define LSM6DSL_CTRL9_XL 0x18
95#define LSM6DSL_CTRL10_C 0x19
96#define LSM6DSL_MASTER_CONFIG 0x1A
97#define LSM6DSL_WAKE_UP_SRC 0x1B
98#define LSM6DSL_TAP_SRC 0x1C
99#define LSM6DSL_D6D_SRC 0x1D
100#define LSM6DSL_STATUS_REG 0x1E
101#define LSM6DSL_OUT_TEMP_L 0x20
102#define LSM6DSL_OUT_TEMP_H 0x21
103#define LSM6DSL_OUTX_L_G 0x22
104#define LSM6DSL_OUTX_H_G 0x23
105#define LSM6DSL_OUTY_L_G 0x24
106#define LSM6DSL_OUTY_H_G 0x25
107#define LSM6DSL_OUTZ_L_G 0x26
108#define LSM6DSL_OUTZ_H_G 0x27
109#define LSM6DSL_OUTX_L_XL 0x28
110#define LSM6DSL_OUTX_H_XL 0x29
111#define LSM6DSL_OUTY_L_XL 0x2A
112#define LSM6DSL_OUTY_H_XL 0x2B
113#define LSM6DSL_OUTZ_L_XL 0x2C
114#define LSM6DSL_OUTZ_H_XL 0x2D
115#define LSM6DSL_SENSORHUB1_REG 0x2E
116#define LSM6DSL_SENSORHUB2_REG 0x2F
117#define LSM6DSL_SENSORHUB3_REG 0x30
118#define LSM6DSL_SENSORHUB4_REG 0x31
119#define LSM6DSL_SENSORHUB5_REG 0x32
120#define LSM6DSL_SENSORHUB6_REG 0x33
121#define LSM6DSL_SENSORHUB7_REG 0x34
122#define LSM6DSL_SENSORHUB8_REG 0x35
123#define LSM6DSL_SENSORHUB9_REG 0x36
124#define LSM6DSL_SENSORHUB10_REG 0x37
125#define LSM6DSL_SENSORHUB11_REG 0x38
126#define LSM6DSL_SENSORHUB12_REG 0x39
127#define LSM6DSL_FIFO_STATUS1 0x3A
128#define LSM6DSL_FIFO_STATUS2 0x3B
129#define LSM6DSL_FIFO_STATUS3 0x3C
130#define LSM6DSL_FIFO_STATUS4 0x3D
131#define LSM6DSL_FIFO_DATA_OUT_L 0x3E
132#define LSM6DSL_FIFO_DATA_OUT_H 0x3F
133#define LSM6DSL_TIMESTAMP0_REG 0x40
134#define LSM6DSL_TIMESTAMP1_REG 0x41
135#define LSM6DSL_TIMESTAMP2_REG 0x42
136#define LSM6DSL_TIMESTAMP_L 0x49
137#define LSM6DSL_TIMESTAMP_H 0x4A
138#define LSM6DSL_STEP_COUNTER_L 0x4B
139#define LSM6DSL_STEP_COUNTER_H 0x4C
140#define LSM6DSL_SENSORHUB13_REG 0x4D
141#define LSM6DSL_SENSORHUB14_REG 0x4E
142#define LSM6DSL_SENSORHUB15_REG 0x4F
143#define LSM6DSL_SENSORHUB16_REG 0x50
144#define LSM6DSL_SENSORHUB17_REG 0x51
145#define LSM6DSL_SENSORHUB18_REG 0x52
146#define LSM6DSL_FUNC_SRC 0x53
147#define LSM6DSL_TAP_CFG1 0x58
148#define LSM6DSL_TAP_THS_6D 0x59
149#define LSM6DSL_INT_DUR2 0x5A
150#define LSM6DSL_WAKE_UP_THS 0x5B
151#define LSM6DSL_WAKE_UP_DUR 0x5C
152#define LSM6DSL_FREE_FALL 0x5D
153#define LSM6DSL_MD1_CFG 0x5E
154#define LSM6DSL_MD2_CFG 0x5F
155#define LSM6DSL_OUT_MAG_RAW_X_L 0x66
156#define LSM6DSL_OUT_MAG_RAW_X_H 0x67
157#define LSM6DSL_OUT_MAG_RAW_Y_L 0x68
158#define LSM6DSL_OUT_MAG_RAW_Y_H 0x69
159#define LSM6DSL_OUT_MAG_RAW_Z_L 0x6A
160#define LSM6DSL_OUT_MAG_RAW_Z_H 0x6B
161#define LSM6DSL_X_OFS_USR 0x73
162#define LSM6DSL_Y_OFS_USR 0x74
163#define LSM6DSL_Z_OFS_USR 0x75
170#define LSM6DSL_SLV0_ADD 0x02
171#define LSM6DSL_SLV0_SUBADD 0x03
172#define LSM6DSL_SLAVE0_CONFIG 0x04
173#define LSM6DSL_SLV1_ADD 0x05
174#define LSM6DSL_SLV1_SUBADD 0x06
175#define LSM6DSL_SLAVE1_CONFIG 0x07
176#define LSM6DSL_SLV2_ADD 0x08
177#define LSM6DSL_SLV2_SUBADD 0x09
178#define LSM6DSL_SLAVE2_CONFIG 0x0A
179#define LSM6DSL_SLV3_ADD 0x0B
180#define LSM6DSL_SLV3_SUBADD 0x0C
181#define LSM6DSL_SLAVE3_CONFIG 0x0D
182#define LSM6DSL_DATAWRITE_SRC_MODE_SUB_SLV0 0x0E
183#define LSM6DSL_CONFIG_PEDO_THS_MIN 0x0F
184#define LSM6DSL_SM_STEP_THS 0x13
185#define LSM6DSL_PEDO_DEB_REG 0x14
186#define LSM6DSL_STEP_COUNT_DELTA 0x15
187#define LSM6DSL_MAG_SI_XX 0x24
188#define LSM6DSL_MAG_SI_XY 0x25
189#define LSM6DSL_MAG_SI_XZ 0x26
190#define LSM6DSL_MAG_SI_YX 0x27
191#define LSM6DSL_MAG_SI_YY 0x28
192#define LSM6DSL_MAG_SI_YZ 0x29
193#define LSM6DSL_MAG_SI_ZX 0x2A
194#define LSM6DSL_MAG_SI_ZY 0x2B
195#define LSM6DSL_MAG_SI_ZZ 0x2C
196#define LSM6DSL_MAG_OFFX_L 0x2D
197#define LSM6DSL_MAG_OFFX_H 0x2E
198#define LSM6DSL_MAG_OFFY_L 0x2F
199#define LSM6DSL_MAG_OFFY_H 0x30
200#define LSM6DSL_MAG_OFFZ_L 0x31
201#define LSM6DSL_MAG_OFFZ_H 0x32
208#define LSM6DSL_CHECK_ID 0x6A
215#define LSM6DSL_DISABLE_MEASUREMENT 0x00
216#define LSM6DSL_ODR_6660_HZ 0xA0
217#define LSM6DSL_ODR_3330_HZ 0x90
218#define LSM6DSL_ODR_1660_HZ 0x80
219#define LSM6DSL_ODR_833_HZ 0x70
220#define LSM6DSL_ODR_416_HZ 0x60
221#define LSM6DSL_ODR_208_HZ 0x50
222#define LSM6DSL_ODR_104_HZ 0x40
223#define LSM6DSL_ODR_52_HZ 0x30
224#define LSM6DSL_ODR_26_HZ 0x20
225#define LSM6DSL_ODR_12_5_HZ 0x10
226#define LSM6DSL_ODR_XL_1_6_HZ 0xB0
233#define LSM6DSL_FULLSCALE_XL_2 0x00
234#define LSM6DSL_FULLSCALE_XL_4 0x04
235#define LSM6DSL_FULLSCALE_XL_8 0x08
236#define LSM6DSL_FULLSCALE_XL_16 0x0C
237#define LSM6DSL_FULLSCALE_G_125 0x02
238#define LSM6DSL_FULLSCALE_G_245 0x00
239#define LSM6DSL_FULLSCALE_G_500 0x04
240#define LSM6DSL_FULLSCALE_G_1000 0x08
241#define LSM6DSL_FULLSCALE_G_2000 0x0C // End group macro
245// --------------------------------------------------------------- PUBLIC TYPES
254typedef struct
255{
256 float accel_x;
257 float accel_y;
258 float accel_z;
259
261
265typedef struct
266{
267 float gyro_x;
268 float gyro_y;
269 float gyro_z;
270
272
276typedef struct
277{
278 digital_out_t cs;
279
280 // Input pins
281
282 digital_in_t int_pin;
283
284 // Modules
285
286 spi_master_t spi;
287 pin_name_t chip_select;
288
289} lsm6dsl_t;
290
294typedef struct
295{
296 // Communication gpio pins
297
298 pin_name_t miso;
299 pin_name_t mosi;
300 pin_name_t sck;
301 pin_name_t cs;
302
303 // Additional gpio pins
304
305 pin_name_t int_pin;
306
307 // static variable
308
309 uint32_t spi_speed;
310 uint8_t spi_mode;
311 spi_master_chip_select_polarity_t cs_polarity;
312
314 // End types group
316// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
317
322#ifdef __cplusplus
323extern "C"{
324#endif
325
335
344
353
366(
367 lsm6dsl_t *ctx,
368 uint8_t *wr_buf,
369 uint16_t wr_len,
370 uint8_t *rd_buf,
371 uint16_t rd_len
372);
373
383uint8_t lsm6dsl_read_byte ( lsm6dsl_t *ctx, uint8_t reg_address );
384
395void lsm6dsl_write_byte ( lsm6dsl_t *ctx, uint8_t reg_address, uint8_t write_data );
396
406
417void lsm6dsl_set_accel_config ( lsm6dsl_t *ctx, uint8_t odr_sel, uint8_t full_scale );
418
429void lsm6dsl_set_gyro_config ( lsm6dsl_t *ctx, uint8_t odr_sel, uint8_t full_scale );
430
440
450
460
469void lsm6dsl_circular_burst_mode ( lsm6dsl_t *ctx, uint8_t burst_mode );
470
481void lsm6dsl_set_self_test_mode ( lsm6dsl_t *ctx, uint8_t gyro_self_test, uint8_t accel_self_test );
482
492
502uint16_t lsm6dsl_get_axis ( lsm6dsl_t *ctx, uint8_t reg_address_low );
503
515
532void lsm6dsl_get_accel ( lsm6dsl_t *ctx, lsm6dsl_accel_t *accel, uint8_t full_scale );
533
550void lsm6dsl_get_gyro ( lsm6dsl_t *ctx, lsm6dsl_gyro_t *gyro, uint8_t full_scale );
551
552#ifdef __cplusplus
553}
554#endif
555#endif // _LSM6DSL_H_
556 // End public_function group
559
560// ------------------------------------------------------------------------- END
#define LSM6DSL_RETVAL
Definition: lsm6dsl.h:64
void lsm6dsl_sleep_gyro(lsm6dsl_t *ctx)
Set gyroscope sleep mode function.
uint8_t lsm6dsl_check_id(lsm6dsl_t *ctx)
Function check LSM6DSL ID.
float lsm6dsl_get_temperature(lsm6dsl_t *ctx)
void lsm6dsl_default_cfg(lsm6dsl_t *ctx)
Click Default Configuration function.
void lsm6dsl_soft_reset(lsm6dsl_t *ctx)
Set soft reset function.
void lsm6dsl_set_self_test_mode(lsm6dsl_t *ctx, uint8_t gyro_self_test, uint8_t accel_self_test)
Set self-test mode function.
void lsm6dsl_set_gyro_config(lsm6dsl_t *ctx, uint8_t odr_sel, uint8_t full_scale)
Set gyro configuration function.
void lsm6dsl_get_gyro(lsm6dsl_t *ctx, lsm6dsl_gyro_t *gyro, uint8_t full_scale)
Get gyroscope function.
void lsm6dsl_wake_up_gyro(lsm6dsl_t *ctx)
Set gyroscope wake up mode function.
void lsm6dsl_circular_burst_mode(lsm6dsl_t *ctx, uint8_t burst_mode)
Set circular burst mode function.
void lsm6dsl_cfg_setup(lsm6dsl_cfg_t *cfg)
Config Object Initialization function.
LSM6DSL_RETVAL lsm6dsl_init(lsm6dsl_t *ctx, lsm6dsl_cfg_t *cfg)
Initialization function.
void lsm6dsl_write_byte(lsm6dsl_t *ctx, uint8_t reg_address, uint8_t write_data)
Write byte of data function.
uint8_t lsm6dsl_read_byte(lsm6dsl_t *ctx, uint8_t reg_address)
Read byte of data function.
void lsm6dsl_set_accel_config(lsm6dsl_t *ctx, uint8_t odr_sel, uint8_t full_scale)
Set accel configuration function.
void lsm6dsl_get_accel(lsm6dsl_t *ctx, lsm6dsl_accel_t *accel, uint8_t full_scale)
Get acceleration function.
uint16_t lsm6dsl_get_axis(lsm6dsl_t *ctx, uint8_t reg_address_low)
Get axis value function.
void lsm6dsl_generic_transfer(lsm6dsl_t *ctx, uint8_t *wr_buf, uint16_t wr_len, uint8_t *rd_buf, uint16_t rd_len)
Generic transfer function.
uint8_t lsm6dsl_get_status_reg(lsm6dsl_t *ctx)
Get status function.
Accel object definition.
Definition: lsm6dsl.h:255
float accel_x
Definition: lsm6dsl.h:256
float accel_z
Definition: lsm6dsl.h:258
float accel_y
Definition: lsm6dsl.h:257
Click configuration structure definition.
Definition: lsm6dsl.h:295
uint8_t spi_mode
Definition: lsm6dsl.h:310
spi_master_chip_select_polarity_t cs_polarity
Definition: lsm6dsl.h:311
pin_name_t sck
Definition: lsm6dsl.h:300
pin_name_t mosi
Definition: lsm6dsl.h:299
uint32_t spi_speed
Definition: lsm6dsl.h:309
pin_name_t int_pin
Definition: lsm6dsl.h:305
pin_name_t miso
Definition: lsm6dsl.h:298
pin_name_t cs
Definition: lsm6dsl.h:301
Gyro object definition.
Definition: lsm6dsl.h:266
float gyro_x
Definition: lsm6dsl.h:267
float gyro_y
Definition: lsm6dsl.h:268
float gyro_z
Definition: lsm6dsl.h:269
Click ctx object definition.
Definition: lsm6dsl.h:277
digital_out_t cs
Definition: lsm6dsl.h:278
spi_master_t spi
Definition: lsm6dsl.h:286
digital_in_t int_pin
Definition: lsm6dsl.h:282
pin_name_t chip_select
Definition: lsm6dsl.h:287